PhysicsTypes.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef GAZEBO_PHYSICS_PHYSICSTYPES_HH_
18 #define GAZEBO_PHYSICS_PHYSICSTYPES_HH_
19 
20 #include <map>
21 #include <memory>
22 #include <string>
23 #include <vector>
24 #include <boost/shared_ptr.hpp>
25 
26 #include "gazebo/util/system.hh"
27 
31 namespace gazebo
32 {
34  namespace physics
35  {
36  class Base;
37  class Entity;
38  class World;
39  class Model;
40  class Actor;
41  class Light;
42  class Link;
43  class Collision;
44  class FrictionPyramid;
45  class Gripper;
46  class Joint;
47  class JointController;
48  class Contact;
49  class PresetManager;
50  class UserCmd;
51  class UserCmdManager;
52  class PhysicsEngine;
53  class Wind;
54  class Atmosphere;
55  class Mass;
56  class Road;
57  class Shape;
58  class RayShape;
59  class MultiRayShape;
60  class Inertial;
61  class SurfaceParams;
62  class BoxShape;
63  class CylinderShape;
64  class MeshShape;
65  class SphereShape;
66  class PlaneShape;
67  class HeightmapShape;
68  class PolylineShape;
69  class ModelState;
70  class LightState;
71  class LinkState;
72  class JointState;
73  class TrajectoryInfo;
74 
77  typedef boost::shared_ptr<Base> BasePtr;
78 
81  typedef boost::shared_ptr<Contact> ContactPtr;
82 
85  typedef boost::shared_ptr<Entity> EntityPtr;
86 
89  typedef boost::shared_ptr<World> WorldPtr;
90 
93  typedef boost::shared_ptr<Model> ModelPtr;
94 
97  typedef boost::shared_ptr<Actor> ActorPtr;
98 
101  typedef std::shared_ptr<TrajectoryInfo> TrajectoryInfoPtr;
102 
105  typedef boost::shared_ptr<Light> LightPtr;
106 
109  typedef boost::shared_ptr<Link> LinkPtr;
110 
113  typedef boost::shared_ptr<Collision> CollisionPtr;
114 
117  typedef boost::shared_ptr<Joint> JointPtr;
118 
121  typedef boost::shared_ptr<JointController> JointControllerPtr;
122 
125  typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr;
126 
129  typedef boost::shared_ptr<PresetManager> PresetManagerPtr;
130 
133  typedef std::shared_ptr<UserCmd> UserCmdPtr;
134 
137  typedef std::shared_ptr<UserCmdManager> UserCmdManagerPtr;
138 
141  typedef boost::shared_ptr<Shape> ShapePtr;
142 
145  typedef boost::shared_ptr<RayShape> RayShapePtr;
146 
149  typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr;
150 
153  typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr;
154 
157  typedef boost::shared_ptr<Inertial> InertialPtr;
158 
161  typedef boost::shared_ptr<Road> RoadPtr;
162 
165  typedef boost::shared_ptr<FrictionPyramid> FrictionPyramidPtr;
166 
169  typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr;
170 
173  typedef boost::shared_ptr<BoxShape> BoxShapePtr;
174 
177  typedef boost::shared_ptr<CylinderShape> CylinderShapePtr;
178 
181  typedef boost::shared_ptr<PlaneShape> PlaneShapePtr;
182 
185  typedef boost::shared_ptr<MeshShape> MeshShapePtr;
186 
189  typedef boost::shared_ptr<PolylineShape> PolylineShapePtr;
190 
193  typedef boost::shared_ptr<SphereShape> SphereShapePtr;
194 
197  typedef boost::shared_ptr<Gripper> GripperPtr;
198 
201  typedef std::vector<BasePtr> Base_V;
202 
205  typedef std::vector<ModelPtr> Model_V;
206 
209  typedef std::vector<ActorPtr> Actor_V;
210 
213  typedef std::vector<JointPtr> Joint_V;
214 
217  typedef std::vector<JointControllerPtr> JointController_V;
218 
221  typedef std::vector<LightPtr> Light_V;
222 
225  typedef std::vector<LinkPtr> Link_V;
226 
229  typedef std::vector<CollisionPtr> Collision_V;
230 
233  typedef std::map<std::string, ModelState> ModelState_M;
234 
237  typedef std::map<std::string, LightState> LightState_M;
238 
241  typedef std::map<std::string, LinkState> LinkState_M;
242 
245  typedef std::map<std::string, JointState> JointState_M;
246 
247  #ifndef GZ_COLLIDE_BITS
248 
252  #define GZ_ALL_COLLIDE 0x0FFFFFFF
253 
256  #define GZ_NONE_COLLIDE 0x00000000
257 
260  #define GZ_FIXED_COLLIDE 0x00000001
261 
264  #define GZ_SENSOR_COLLIDE 0x00000002
265 
268  #define GZ_GHOST_COLLIDE 0x10000000
269 
270  #endif
271  }
272 }
273 #endif
boost::shared_ptr< Actor > ActorPtr
Definition: PhysicsTypes.hh:97
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
std::shared_ptr< UserCmd > UserCmdPtr
Definition: PhysicsTypes.hh:133
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
boost::shared_ptr< PresetManager > PresetManagerPtr
Definition: PhysicsTypes.hh:129
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:165
Forward declarations for the common classes.
Definition: Animation.hh:33
std::map< std::string, ModelState > ModelState_M
Definition: PhysicsTypes.hh:233
std::vector< ModelPtr > Model_V
Definition: PhysicsTypes.hh:205
boost::shared_ptr< SphereShape > SphereShapePtr
Definition: PhysicsTypes.hh:193
boost::shared_ptr< PolylineShape > PolylineShapePtr
Definition: PhysicsTypes.hh:189
std::vector< LightPtr > Light_V
Definition: PhysicsTypes.hh:221
std::map< std::string, JointState > JointState_M
Definition: PhysicsTypes.hh:245
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition: PhysicsTypes.hh:101
std::shared_ptr< UserCmdManager > UserCmdManagerPtr
Definition: PhysicsTypes.hh:137
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
std::vector< JointControllerPtr > JointController_V
Definition: PhysicsTypes.hh:217
boost::shared_ptr< SurfaceParams > SurfaceParamsPtr
Definition: PhysicsTypes.hh:169
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
std::map< std::string, LightState > LightState_M
Definition: PhysicsTypes.hh:237
boost::shared_ptr< PlaneShape > PlaneShapePtr
Definition: PhysicsTypes.hh:181
boost::shared_ptr< CylinderShape > CylinderShapePtr
Definition: PhysicsTypes.hh:177
boost::shared_ptr< MultiRayShape > MultiRayShapePtr
Definition: PhysicsTypes.hh:153
boost::shared_ptr< Gripper > GripperPtr
Definition: PhysicsTypes.hh:197
Used to render a strip of road.
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:213
boost::shared_ptr< HeightmapShape > HeightmapShapePtr
Definition: PhysicsTypes.hh:149
std::vector< CollisionPtr > Collision_V
Definition: PhysicsTypes.hh:229
boost::shared_ptr< Contact > ContactPtr
Definition: PhysicsTypes.hh:81
boost::shared_ptr< Inertial > InertialPtr
Definition: PhysicsTypes.hh:157
std::vector< BasePtr > Base_V
Definition: PhysicsTypes.hh:201
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
boost::shared_ptr< Road > RoadPtr
Definition: PhysicsTypes.hh:161
boost::shared_ptr< Shape > ShapePtr
Definition: PhysicsTypes.hh:141
boost::shared_ptr< RayShape > RayShapePtr
Definition: PhysicsTypes.hh:145
boost::shared_ptr< JointController > JointControllerPtr
Definition: PhysicsTypes.hh:121
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
std::map< std::string, LinkState > LinkState_M
Definition: PhysicsTypes.hh:241
std::vector< ActorPtr > Actor_V
Definition: PhysicsTypes.hh:209
boost::shared_ptr< BoxShape > BoxShapePtr
Definition: PhysicsTypes.hh:173
boost::shared_ptr< Light > LightPtr
Definition: PhysicsTypes.hh:105
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:225
boost::shared_ptr< MeshShape > MeshShapePtr
Definition: PhysicsTypes.hh:185
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77